CN116553055B - Intelligent logistics warehouse system and deployment method - Google Patents

Intelligent logistics warehouse system and deployment method Download PDF

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Publication number
CN116553055B
CN116553055B CN202310766195.XA CN202310766195A CN116553055B CN 116553055 B CN116553055 B CN 116553055B CN 202310766195 A CN202310766195 A CN 202310766195A CN 116553055 B CN116553055 B CN 116553055B
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area
warehouse
wire
goods
drive
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CN116553055A (en
Inventor
杨海
李松涛
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Nanjing Wire Control Robot Technology Co ltd
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Nanjing Wire Control Robot Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses an intelligent logistics warehouse system and a deployment method, and belongs to the technical field of intelligent warehouse. The logistics warehouse system comprises: a stacking zone, a delivery zone, and a transport zone; a plurality of wire control units are distributed on the stacking area, the delivery area and the transport area, and the wire control units are selected according to requirements to be combined into a wire control robot; a transport mechanism is disposed within the transport zone, the transport mechanism having at least one set of railcars having at least one shuttle degree of freedom in a predetermined direction. And the wire control robot is utilized to realize the dispatching of cargoes between the stacking area and the carrying area and between the carrying area and the delivery area, and the rail car is utilized to realize the transportation of cargoes between the stacking area and the delivery area. The invention is different from the warehouse storage mode in the prior art, performs unified management on goods or stacks by adopting the aggregation mode, fully utilizes the storage space in the warehouse, fully utilizes the reserved operation roadway in the prior art, increases the warehouse capacity, has high popularization and has high safety coefficient.

Description

Intelligent logistics warehouse system and deployment method
Technical Field
The invention belongs to the technical field of intelligent warehouse, and particularly relates to an intelligent logistics warehouse system and a deployment method.
Background
The commodity circulation is with the storage as the center, promotes production and market keep in step, guarantees the normal circulation of article, when transporting the article in the commodity circulation storage, need use fork truck, purlin car etc. to carry the stack to article, reduces the intensity of labour that the staff carried.
However, stacking in the prior art generally performs regional stacking according to requirements such as production batches or ex-warehouse batches, that is, at least one operation roadway needs to be reserved between adjacent regions for providing a transportation space for forklifts, trussed trucks and the like, so that the space utilization rate in the warehouse is not high in practice, and therefore, the requirements of long storage time and storage capacity cannot be met.
During operation, the forklift, the truss car and the like have certain volume and are combined with the height of the stacking area, so that the positioning accuracy is reduced, and even potential safety hazards exist, such as collision of cargoes caused by stacking or picking up of the forklift and the truss car; when the forklift and the truss are moved, if the goods are irregular in shape or not stably placed, the goods can fall off in the transferring process.
Disclosure of Invention
The invention provides an intelligent logistics warehouse system and a deployment method for solving the technical problems in the background technology.
The invention adopts the following technical scheme: an intelligent logistics warehouse deployment method at least comprises the following steps:
spatial deployment: arranging a stacking area, a carrying area and a delivering area according to the requirements; wherein the goods are piled in the stacking area continuously and/or discontinuously according to the requirements;
and (3) equipment deployment: a plurality of wire control units are deployed above the stacking area, the carrying area and the delivery area, and each wire control unit is provided with a plurality of execution wires with multiple degrees of freedom and adjustable length; deploying a conveying mechanism in a conveying area, wherein the conveying mechanism is provided with j groups of rail cars, the rail cars are provided with at least one reciprocating degree of freedom along a preset direction, and j is more than or equal to 1;
robot selection: based on the execution instruction, selecting a needed drive-by-wire unit to be combined into an i-group drive-by-wire robot, and utilizing the drive-by-wire robot to realize the dispatching of cargoes between a stacking area and a carrying area and between the carrying area and a delivery area, wherein i is more than or equal to 1; the required rail cars are dispatched in the handling facility, with which the transport of goods between the stacking area and the delivery area is achieved.
In a further embodiment, the deployment procedure of the spatial deployment is as follows:
a point is selected at the edge of the warehouse as the origin (x 0 ，y 0 ，z 0 ) Establishing a space coordinate system by taking the length, the width and the height of the warehouse as an X axis, a Y axis and a Z axis respectively;
the stacking area is arranged along the X axis and is defined as a first length L S ；
Adding a delivery zone at least one end of the stacking zone along the X-axis and defining the length of the delivery zone as a second length L o The method comprises the steps of carrying out a first treatment on the surface of the The number of delivery areas corresponds to the number of warehouse ports of a warehouse, and the warehouse ports comprise: at least one of a warehouse entry or a warehouse exit;
a carrying area is additionally arranged on at least one side of the stacking area along the Y-axis direction, and the length of the carrying area is defined as a third length L h The method comprises the steps of carrying out a first treatment on the surface of the Wherein,k is the number of delivery areas.
In a further embodiment, the deployment procedure of the spatial deployment further comprises:
a rotation area is additionally arranged between the stacking area and the delivery area along the X-axis, and the length of the rotation area is defined as a fourth length L r The method comprises the steps of carrying out a first treatment on the surface of the Wherein,g is the number of wheeling zones;
the drive-by-wire robot is also used for realizing the dispatching of cargoes between a transport area and a wheel rotation area, and the carrying mechanism is also used for realizing the dispatching of cargoes between a stacking area and the wheel rotation area, the wheel rotation area and a delivery area.
In a further embodiment, the deployment procedure of the drive-by-wire unit is as follows:
arranging a plurality of suspension points on the truss according to the requirement, wherein at least one group of guide members are arranged at each suspension point and are in transmission connection with corresponding execution lines;
the deployment flow of the carrying mechanism is as follows: and paving a guide rail with a preset length and a preset shape in the carrying area according to the requirement, and arranging a slidable rail car on the guide rail, wherein the rail car is provided with a carrying accommodating cavity or a carrying platform.
In a further embodiment, the execution instructions include the following types: a transfer instruction, an ex-warehouse instruction and a warehouse-in instruction in a warehouse;
the execution instruction at least comprises the following information: basic information of the goods and the starting position coordinates (x s ，y s ，z s ) End position coordinates of goods (x e ，y e ，z e ) Goods-dispatching posture and required transport direction of goods in carrying area
Wherein, the basic information of goods at least includes: the type of cargo, the size of the cargo volume, and the material of the cargo; the transport directionIs obtained by the end position coordinates (x e ，y e ，z e ) And the start position coordinates (x s ，y s ，z s ) Obtained.
In a further embodiment, the selected flow of the robot by wire is as follows:
establishing screening standards about the line control units according to basic information of cargoes and cargo dispatching postures, and pre-determining the required number w of the line control units based on the screening standards; the screening criteria were expressed in the following format:
wherein (1)>Representing the minimum bearing capacity of the execution wire in the Z-axis direction in the drive-by-wire unit w, F G Representing the force required in the Z axis direction during the movement of the cargo, and f represents the degree of freedom required for the posture adjustment of the cargo;
based on the starting position coordinates (x s ，y s ，z s ) Or/and end position coordinates (x e ，y e ，z e ) Creating a position deployment principle, and selecting corresponding drive-by-wire units to be combined into a required drive-by-wire robot based on the position deployment principle and the required number w; the location deployment principle is as follows:
wherein O is i Is the operation space of the drive-by-wire robot i, m, n E [1, i ]]。
In a further embodiment, the selecting of the robot by wire further includes the following procedure:
constructing a carrier based on basic information of the required drive-by-wire robot and the goods, wherein the carrier is used as a platform for clamping the goods and is hinged to an execution line corresponding to the required drive-by-wire robot; the desired movement adjustment and/or attitude adjustment is achieved by controlling the operating length of the execution line in a connection with the carrier.
In a further embodiment, the scheduling and the transportation flow are as follows:
acquiring an operation space O corresponding to the selected drive-by-wire robot i i In combination with the starting position coordinates (x s ，y s ，z s ) And the end position coordinates (x) e ，y e ，z e ) Determining a pickup area for a rail vehicle in a transport areaAnd discharge interval +.>Wherein, the goods taking area is->And discharge interval +.>Respectively belong to corresponding operation spaces O i ；
When picking up goods, if the drive-by-wire robot corresponding to the goods starting position coordinate is in a working state, executing a waiting mode on the current execution instruction until the corresponding drive-by-wire robot is in an idle state; if the drive-by-wire robot i is in an idle state, the railcars are dispatched according to the priority orderMove to the goods taking areaThe corresponding drive-by-wire robot lifts the goods above the dispatched railcar and places the goods on the railcar; according to the transport direction on the rail car>From the goods taking area->Carry to the goods taking area->
And when unloading, if the drive-by-wire robot corresponding to the goods end position coordinate is in a working state, executing a pause mode on the current execution instruction until the corresponding drive-by-wire robot is in an idle state.
In a further embodiment, the priority order is expressed as: dispatching according to the principle of distance priority under the condition of meeting the preset constraint condition;
wherein the constraint comprises at least: the space avoidance requirement is met, and the requirement that the railway vehicle can carry cargo is met functionally.
An intelligent logistics warehouse system is used for realizing the logistics warehouse deployment method, and the system is arranged in a warehouse; the warehouse comprises at least one warehouse port;
the stacking area is arranged in the warehouse along a preset direction; the stacking area is arranged for stacking and storing cargoes according to continuity and/or non-continuity;
at least one sheet delivery zone disposed between the stacking zone and the warehouse mouth along the predetermined direction; the delivery zone is configured to park a vehicle;
the transport area and the stacking area are paved in the warehouse in parallel; the transport zone covers the stacking zone and the delivery zone in a predetermined direction;
the wire control units are distributed above the stacking area, the delivery area and the transportation area; the plurality of wire control units are combined into at least one group of wire control robots according to requirements;
the conveying mechanism is arranged in the conveying area; the handling mechanism has at least one set of railcars having at least one degree of freedom to and from in a predetermined direction.
In a further embodiment, the drive-by-wire unit comprises:
at least two groups of trusses arranged at the top of the warehouse along a preset direction;
the hanging points are distributed on the truss in advance;
the guide pieces are correspondingly distributed at the hanging points; at least one set of actuating wires is arranged on each guide member;
the line control robot is formed by combining a selected required number of execution lines at required positions and a carrier; the carrier is connected to the output of the corresponding execution line.
In a further embodiment, the carrier is spliced by a plurality of splices and a plurality of connectors, and the shape and size are based on basic information of the cargo, and the cargo scheduling attitude;
wherein, any end of the connecting piece and any end of the connector are matched.
In a further embodiment, the transport mechanism further comprises a linear rail or a circular rail; the rail car moves back and forth on the linear guide rail or the annular guide rail.
In a further embodiment, further comprising: and the rotation area is arranged between the stacking area and the delivery area.
The invention has the beneficial effects that: the goods stacking in the prior art is generally stacked in regions according to batches or goods types, so that space is wasted. The invention is different from the warehouse storage mode in the prior art, performs unified management on goods or stacks by adopting the aggregation mode, fully utilizes the storage space in the warehouse, fully utilizes the reserved operation roadway in the prior art, and increases the warehouse capacity.
Secondly, the invention uses the rail car to combine with the linear control robot to replace the large-size transportation tools such as forklifts, trussed vehicles and the like in the prior art for carrying, and the rail car combines with the linear control robot to not only increase the stability in the carrying process, but also meet the carrying gesture requirements under partial conditions, and is also suitable for carrying cargoes with special requirements on the carrying gesture. In addition, the rail cars are transported on the guide rails according to a preset route, and the rail cars are orderly managed, so that the safety in the carrying process is improved.
The drive-by-wire robot and the carrier arranged at the output end of the drive-by-wire robot are modularized, and can be assembled and assembled according to actual requirements, so that popularization is improved. In addition, when a plurality of wire control robots and a plurality of railcars exist, the wire control robots and the railcars can run simultaneously on the premise of meeting avoiding requirements and loading requirements, so that timeliness is further improved.
Description of the invention
FIG. 1 is a flow chart of an intelligent logistics warehouse deployment method.
Fig. 2 is a top view of the intelligent logistics warehouse system of example 2.
Fig. 3 is a front view of the intelligent logistics warehouse system of embodiment 2.
Fig. 4 is a top view of the intelligent logistics warehouse system of example 3.
Each labeled in fig. 2-4 is: a stacking area 1, a delivery area 2, a transport area 3, goods 4, a transport means 5, a drive-by-wire unit 6, an execution line 7, a drive-by-wire robot 8, a rail car 9, a linear rail 10, a circular rail 11, a wheel-rotating area 12, a carrier 13.
Detailed Description
Example 1
As shown in fig. 1, an intelligent logistics warehouse deployment method comprises the following steps:
step one, spatial deployment: arranging a stacking area, a carrying area and a delivering area according to the requirements; wherein the goods are piled in the stacking area continuously and/or discontinuously according to the requirements;
step two, equipment deployment: a plurality of wire control units are deployed above the stacking area, the carrying area and the delivery area, and each wire control unit is provided with a plurality of execution wires with multiple degrees of freedom and adjustable length; deploying a conveying mechanism in a conveying area, wherein the conveying mechanism is provided with j groups of rail cars, the rail cars are provided with at least one reciprocating degree of freedom along a preset direction, and j is more than or equal to 1;
step three, robot selection: based on the execution instruction, selecting a needed drive-by-wire unit to be combined into an i-group drive-by-wire robot, and utilizing the drive-by-wire robot to realize the dispatching of cargoes between a stacking area and a carrying area and between the carrying area and a delivery area, wherein i is more than or equal to 1; the required rail cars are dispatched in the handling facility, with which the transport of goods between the stacking area and the delivery area is achieved.
It should be noted that, the stacking area in the first step is an area with a larger paving area, unlike the stacking area in the prior art, the stacking area in the prior art is partitioned based on batches of cargoes or cargo types, and a roadway exists between adjacent stacking areas, but the roadway is directly canceled and fully utilized, so that cargoes are stacked in the stacking area according to the continuity and/or the non-continuity of the requirements. Based on this, set up the transport district in one side of stack district, the transport district then is "tunnel" after the improvement, and is different from "tunnel" in the prior art, and the transport district in this embodiment is appointed regional, and does not have the intersection with the stack district, does not have goods to pile up in the transport district promptly and has strengthened space management and security.
In addition, the delivery area in this embodiment is an interaction area between goods and a transportation means, where the transportation means may be a truck, a van, or the like. The number and definition of the delivery areas depends on the type of warehouse, and if there is only one warehouse entry, i.e. the warehouse entry is both warehouse entry and warehouse exit, the delivery areas are thus used for loading and unloading simultaneously, the number being one. Correspondingly, the delivery area is arranged between the stacking area and the warehouse opening. In another implementation, the front and rear sides of the warehouse are respectively provided with a warehouse inlet and a warehouse outlet, namely, the warehouse outlet and the warehouse inlet of the goods are operated in different areas, so that the delivery areas at the moment are two groups, namely, a loading area and a unloading area. The loading area and the unloading area are correspondingly arranged at two ends of the stacking area and are respectively arranged between the stacking area and the warehouse outlet and between the stacking area and the warehouse inlet.
Based on the above description, the specific procedure of spatial deployment is as follows: a point is selected at the edge of the warehouse as the origin (x 0 ，y 0 ，z 0 ) And establishing a space coordinate system for the X axis, the Y axis and the Z axis respectively according to the length, the width and the height of the warehouse. The origin may be located at a corner of the warehouse.
The stacking area is arranged along the X axis and is defined as a first length L S The method comprises the steps of carrying out a first treatment on the surface of the Adding a delivery zone at least one end of the stacking zone along the X-axis and defining the length of the delivery zone as a second length L o The method comprises the steps of carrying out a first treatment on the surface of the The number of delivery areas corresponds to the number of warehouse ports of a warehouse, and the warehouse ports comprise: at least one of a warehouse entry or a warehouse exit; a carrying area is additionally arranged on at least one side of the stacking area along the Y-axis direction, and the length of the carrying area is defined as a third length L h The method comprises the steps of carrying out a first treatment on the surface of the Wherein,k is the number of delivery areas.
In combination with the above embodiment, if there is only one bin port in the bin, i.e. where k=1, then L h ≥L S +L o The method comprises the steps of carrying out a first treatment on the surface of the If there is both a warehouse exit and a warehouse entry, then k=2, corresponding toBy limiting the length of each area, the transportation area can cover the delivery area and the stacking area at the same time in the X-axis direction, and the smoothness and continuity of the goods flowing process are ensured.
Based on the space deployment of the first step, the wire control unit layout flow of the second step is as follows: a plurality of suspension points are arranged on the truss according to the requirement, and at least one group of guide members are installed at each suspension point, and the guide members are in transmission connection with corresponding execution wires.
The trusses in this embodiment are two groups parallel to each other, and are disposed on two sides of the top of the warehouse along the X-axis direction, that is, the stacking area and the carrying area are located between the two trusses. The purpose is to ensure that the drive-by-wire robot formed later can operate in the designated areas of the stacking area and the carrying area. And a group of guide members are arranged at the hanging points, a group of execution lines are arranged on each group of guide members, the tail ends of the execution lines are used for being connected with a carrier, and the carrier is a bearing platform and can be used for installing devices with grabbing functions such as mechanical claws or absorption parts and the like to grab cargoes. Correspondingly, the deployment flow of the carrying mechanism is as follows: and paving a guide rail with a preset length and a preset shape in the carrying area according to the requirement, and arranging a slidable rail car on the guide rail, wherein the rail car is provided with a carrying accommodating cavity or a carrying platform. In this embodiment, the rail is an elongated rail having a length that corresponds to the length of the transport area and on which the rail car can reciprocate. In another embodiment, the rail is an annular rail, the length of which is still consistent with the length of the transport area, and the rail car moves annularly in the same direction, so that the reciprocating motion in the X-axis direction is realized.
The rail car with the guide rail realizes the transportation of goods in the X-axis direction, ensures the safety and the ordering of the paths in the transportation process, simultaneously can not generate the problems of shaking, falling and the like of the goods caused by ground defects, and further increases the safety.
In this embodiment, the execution instructions include the following types: a transfer instruction in a library, an out-of-library instruction and a warehouse-in instruction. From another dimension analysis, the execution instructions include the following information: basic information of the goods and the starting position coordinates (x s ，y s ，z s ) End position coordinates of goods (x e ，y e ，z e ) Goods-dispatching posture and required transport direction of goods in carrying areaWherein, the basic information of goods at least includes: the type of cargo, the size of the cargo volume, and the material of the cargo; said transport direction->Is obtained by the end position coordinates (x e ，y e ，z e ) And the start position coordinates (x s ，y s ，z s ) Obtained.
It should be noted that the in-warehouse transfer instruction is to transfer the goods from the current position to another position, that is, the initial position coordinates (x s ，y s ，z s ) And the end position coordinates (x) e ，y e ，z e ) Are all located within the stacking zone. The delivery instruction is to carry the goods from the current position to the transportation means in the delivery area, namely the initial position coordinates (x s ，y s ，z s ) Within the stacking zone, the end position coordinates (x e ，y e ，z e ) Located within the corresponding delivery zone. Likewise, the warehouse entry command is for transporting the goods from the transportation means located in the delivery area into the stacking area, i.e. the starting position coordinates (x s ，y s ，z s ) In the corresponding delivery zone, the end position coordinates (x e ，y e ，z e ) Located within the stacking zone.
However, no matter where the initial position coordinates and the key position coordinates of the goods are located, the dispatching between the areas and the rail cars along the transportation direction are accomplished by the drive-by-wire robotAnd carrying to finish the whole process.
In order to implement the above technology, the present embodiment further discloses a selection procedure of the wire control robot as follows:
establishing screening standards about the line control units according to basic information of cargoes and cargo dispatching postures, and pre-determining the required number w of the line control units based on the screening standards; the screening criteria were expressed in the following format:
wherein (1)>Representing the minimum bearing capacity of the execution wire in the Z-axis direction in the drive-by-wire unit w, F G Representing the force required in the Z-axis during the movement of the cargo, f represents the degree of freedom required for the attitude adjustment of the cargo. In other words, when there is no requirement for the posture at the time of cargo handling, in performing the determination of the number of wires (the number of wire control units), consideration is made from the viewpoint of the required force. When the cargo is carried, the cargo needs to be adjusted according to a predetermined posture, and the degree of freedom required for the cargo posture adjustment needs to be considered. Thus, the selection of the robot-by-wire further includes the following procedure: constructing a carrier based on basic information of the required drive-by-wire robot and the goods, wherein the carrier is used as a platform for clamping the goods and is hinged to an execution line corresponding to the required drive-by-wire robot; the desired movement adjustment and/or attitude adjustment is achieved by controlling the operating length of the execution line in a connection with the carrier.
Based on the starting position coordinates (x s ，y s ，z s ) Or/and end position coordinates (x e ，y e ，z e ) Creating a position deployment principle, and selecting corresponding drive-by-wire units to be combined into a required drive-by-wire robot based on the position deployment principle and the required number w; the location deployment principle is as follows:
wherein O is i Is the operation space of the drive-by-wire robot i, m, n E [1, i ]]. In other words, the combined drive-by-wire robot should be spatially operable. Further, if the combination in the warehouse results in a group of drive-by-wire robots, i.e., i=1. The final position coordinates and the initial position coordinates of the goods belong to the operation space, otherwise, the goods cannot be normally dispatched. In another embodiment, if three groups of robots are combined in the warehouse, i.e. i=3, the three groups of robots are respectively responsible for different areas and correspond to different operation spaces. The end position coordinates and the start position need to respectively belong to two groups of the drive-by-wire robots or the same group of drive-by-wire robotsIs provided.
Based on the above description, the scheduling and the transportation flow are as follows: acquiring an operation space O corresponding to the selected drive-by-wire robot i i In combination with the starting position coordinates (x s ，y s ，z s ) And the end position coordinates (x) e ，y e ，z e ) Determining a pickup area for a rail vehicle in a transport areaAnd discharge interval +.>Wherein, get the goods districtAnd discharge interval +.>Respectively belong to corresponding operation spaces O i ；
When picking up goods, if the drive-by-wire robot corresponding to the goods starting position coordinate is in a working state, executing a waiting mode on the current execution instruction until the corresponding drive-by-wire robot is in an idle state; if the drive-by-wire robot i is in an idle state, the railcar is dispatched to move to the goods taking area according to the priority orderThe corresponding drive-by-wire robot lifts the goods above the dispatched railcar and places the goods on the railcar; according to the transport direction on the rail car>From the goods taking area->Carry to the goods taking area->
And when unloading, if the drive-by-wire robot corresponding to the goods end position coordinate is in a working state, executing a pause mode on the current execution instruction until the corresponding drive-by-wire robot is in an idle state.
Taking three groups of drive-by-wire robots combined in a warehouse as an example, and taking an execution instruction as a warehouse-out instruction, the initial position coordinates of goods are positioned in the operation space O of the first group of drive-by-wire robots 1 In the delivery area, namely the loading area, is positioned in the operation space O corresponding to the third group of drive-by-wire robots 3 In, then based on the operation space O 1 Determining a pickup areaAlso the operating range of the first group of robots on the transport zone in the X-axis direction. Otherwise, if the position of the rail car does not belong to the pickup section +.>The robot-by-wire cannot place the acquisition on the railcar. Likewise, based on operating space O 3 Determining discharge intervalsWhen the rail vehicle is in the transport direction>Enter the unloading section->And (3) starting a third group of drive-by-wire robots in an idle state to dispatch cargoes from the railcars to transportation means in the delivery area. It should be noted that, when the drive-by-wire robot and the railcar are interacted, both are in a stationary state or a moving state according to the requirements.
Wherein the priority order is expressed as: dispatching according to the principle of distance priority under the condition of meeting the preset constraint condition; wherein the constraint comprises at least: meeting the space avoiding requirement in space and being full in functionThe need for cargo can be achieved by foot rail cars. In other words, if the current rail car is a plurality of rail cars, if the nearest rail car cannot carry cargo continuously, the functional requirement is not met; after screening, if the rail vehicle meeting the functional requirement is in the transportation directionOther railcars exist and the designated location needs to be moved in the normal order.
In another embodiment, a rotation area is additionally arranged between the stacking area and the delivery area along the X-axis, and the corresponding deployment procedure of spatial deployment further comprises:
a rotation area is additionally arranged between the stacking area and the delivery area along the X-axis, and the length of the rotation area is defined as a fourth length L r The method comprises the steps of carrying out a first treatment on the surface of the Wherein,g is the number of wheeling zones; it should be noted that the number of wheeling areas is also dependent on the number of warehouse ports.
The drive-by-wire robot is also used for realizing the dispatching of cargoes between a transport area and a wheel rotation area, and the carrying mechanism is also used for realizing the dispatching of cargoes between a stacking area and the wheel rotation area, the wheel rotation area and a delivery area.
The wheel rotation area is additionally arranged to improve logistics efficiency, when the demand of goods is large, the quantity of the transportation means in the delivery area is limited, and under normal conditions, after the transportation means in the delivery area are filled or emptied, the transportation means in the delivery area are replaced by new transportation means, and then the goods are scheduled in the warehouse, and the scheduling at the moment comprises the scheduling time of the goods in the warehouse and the loading or emptying time of the goods, and the waiting time of the new transportation means in the middle is long. Therefore, the rotation area of the embodiment can effectively solve the technical problem and shorten the waiting time. The concrete steps are as follows: taking loading as an example, carrying out next operation by using a drive-by-wire robot and a rail car in an idle state, and temporarily storing goods to be loaded of the next car in a wheel rotation area. When the next vehicle arrives, the goods positioned in the wheel rotation area are directly conveyed in a close range through the wire control robot or the wire control robot combined with the rail car, so that the conveying time of the goods in the warehouse is saved. The same applies to the pre-handling at night or other idle times.
Taking unloading as an example, if the number of transport means for coming goods is large at this time, the close-distance transport can be realized by combining the drive-by-wire robot or the drive-by-wire robot with the railcar, the goods are transferred from the transport means to the wheel rotation area, the congestion of the transport means can be effectively relieved by the short-distance transport, and then the transport in the warehouse can be realized by combining other drive-by-wire robots or the drive-by-wire robot with the railcar.
Example 2
In order to implement the logistics warehouse deployment method described in embodiment 1, this embodiment discloses an intelligent logistics warehouse system, and the system is disposed in a warehouse. As shown in fig. 2, the warehouse is provided with a warehouse entry, i.e. the warehouse entry is both a warehouse entry and a warehouse exit.
Based on the above description, a stacking area 1 is laid in the warehouse along the X-axis, and the stacking area 1 is configured to store the cargoes 4 in a continuous and/or discontinuous manner, as shown in fig. 3, and the cargoes 4 are continuously stacked in the stacking area 1. Correspondingly, a delivery zone 2, i.e. a zone for loading or unloading, is provided between the warehouse opening and the stacking zone 1 in the X-axis direction. The delivery area 2 is arranged to park a vehicle 5, in this embodiment a truck.
The transport area 3 is also included in fig. 2, and is laid in the warehouse in parallel with the stacking area l; the transport zone 3 covers the stacking zone 1 and the delivery zone 2 in a predetermined direction.
Wherein, the stack district 1, delivery district 2 and the top of transportation district 3 are provided with a plurality of drive-by-wire unit 6, and a plurality of drive-by-wire unit 6 make up into at least a set of drive-by-wire robot 8 according to the demand. In this embodiment, taking three groups of wire-controlled robots 8 as an example, the wire-controlled robots include a first group of wire-controlled robots 8, a second group of wire-controlled robots 8 and a third group of wire-controlled robots 8, and as described in connection with embodiment 1, the first group of wire-controlled robots 8, the second group of wire-controlled robots 8 and the third group of wire-controlled robots 8 respectively correspond to different operation spaces.
A handling mechanism is arranged in the transport area 3, the handling mechanism comprises a guide rail of a predetermined shape and a predetermined length, at least one set of rail cars 9 are slidably arranged on the guide rail, in this embodiment, two sets of rail cars 9 are taken as an example, and therefore the rail cars 9 have at least one reciprocating degree of freedom along a predetermined direction. As described in connection with example 1, the rail car 9 is movable on the guide rail in the transport direction D. The guide rail in this embodiment is a linear guide rail 10.
Further, the drive-by-wire unit 6 in the present embodiment includes: two groups of trusses are arranged at the top of the warehouse along the X axis, a plurality of hanging points are distributed on each truss in advance, guide pieces are arranged on each hanging point, and a group of execution wires 7 are connected to each guide piece in a transmission mode. In this embodiment, the guide member is a fixed pulley, one end of the execution wire 7 is connected to an actuator, the actuator is correspondingly mounted on the truss, and the other end of the execution wire 7 passes through the fixed pulley to be connected with the carrier. The drive-by-wire robot 8 is formed by combining a selected required number of execution lines 7 at required positions and a carrier; the carrier is connected to the output of the corresponding execution line 7.
The carrier is a bearing platform and can be used for installing devices with grabbing functions such as mechanical claws or absorbing parts. In this embodiment, the carrier may be of a fixed size or shape, or may be temporarily assembled based on the basic information of the cargo 4.
In another embodiment, the carrier 13 is formed by splicing a plurality of splices and a plurality of connectors, and the shape and the size are based on the basic information of the goods 4 and the dispatching posture of the goods 4; wherein, any end of the connecting piece and any end of the connector are matched.
Example 3
In this embodiment, as shown in fig. 4, the warehouse is provided with two warehouse entrances and warehouse exits, respectively. Based on example 2, this example also discloses a carousel zone 12, between the palletizing zone 1 and the delivery zone 2. Further, the number of the wheel turning areas 12 in this embodiment is two, and the wheel turning areas are respectively arranged between the stacking area 1 and the loading area, and between the stacking area 1 and the unloading area. The guide rail in this embodiment is a circular guide rail 11.
The wheel-turning area 12 is added to improve the logistic efficiency, when the demand of the goods 4 is large, but the quantity of the transportation means 5 in the delivery area 2 is limited, and under normal conditions, after the transportation means 5 in the delivery area 2 is filled or emptied, the new transportation means 5 is replaced and then the goods 4 are dispatched in the warehouse, and at this moment, the dispatching time includes the dispatching time of the goods 4 in the warehouse and the loading or emptying time of the goods 4, and the waiting time of the new transportation means 5 in the middle is long. Therefore, the wheel region 12 of the present embodiment can effectively solve this technical problem and shorten the waiting time.

Claims (14)

1. An intelligent logistics warehouse deployment method is characterized by at least comprising the following steps:
spatial deployment: arranging a stacking area, a carrying area and a delivering area according to the requirements; wherein the goods are piled in the stacking area continuously and/or discontinuously according to the requirements;
and (3) equipment deployment: a plurality of wire control units are deployed above the stacking area, the carrying area and the delivery area, and each wire control unit is provided with a plurality of execution wires with multiple degrees of freedom and adjustable length; deploying a conveying mechanism in a conveying area, wherein the conveying mechanism is provided with j groups of rail cars, the rail cars are provided with at least one reciprocating degree of freedom along a preset direction, and j is more than or equal to 1;
robot selection: establishing screening standards on the drive-by-wire units according to basic information of cargoes and cargo dispatching postures based on the execution instructions, and pre-determining the required number w of the drive-by-wire units based on the screening standards; based on the starting position coordinates (x s ,y s ,z s ) Or/and end position coordinates (x e ,y e ,z e ) Creating a position deployment principle, and selecting corresponding drive-by-wire units to be combined into i groups of drive-by-wire robots based on the position deployment principle and the required number w; selecting a wire control robot in an idle state from the group i of wire control robots, and realizing the scheduling of cargoes between a stacking area and a carrying area and between the carrying area and a delivery area, wherein i is more than or equal to 1; in the carrying mechanism, the required rail cars are dispatched according to the preset priority order, and the rail cars are utilizedNow the cargo is transported between the stacking area and the delivery area.
2. The intelligent logistics warehouse deployment method of claim 1, wherein the deployment procedure of the spatial deployment is as follows:
a point is selected at the edge of the warehouse as the origin (x 0 ,y 0 ,z 0 ) Establishing a space coordinate system by taking the length, the width and the height of the warehouse as an X axis, a Y axis and a Z axis respectively;
the stacking area is arranged along the X axis and is defined as a first length L S ；
Adding a delivery zone at least one end of the stacking zone along the X-axis and defining the length of the delivery zone as a second length L o The method comprises the steps of carrying out a first treatment on the surface of the The number of delivery areas corresponds to the number of warehouse ports of a warehouse, and the warehouse ports comprise: at least one of a warehouse entry or a warehouse exit;
a carrying area is additionally arranged on at least one side of the stacking area along the Y-axis direction, and the length of the carrying area is defined as a third length L h The method comprises the steps of carrying out a first treatment on the surface of the Wherein,k is the number of delivery areas.
3. The intelligent logistics warehouse deployment method of claim 2, wherein the deployment procedure of the spatial deployment further comprises:
a rotation area is additionally arranged between the stacking area and the delivery area along the X-axis, and the length of the rotation area is defined as a fourth length L r The method comprises the steps of carrying out a first treatment on the surface of the Wherein,g is the number of wheeling zones;
the drive-by-wire robot is also used for realizing the dispatching of cargoes between a transport area and a wheel rotation area, and the carrying mechanism is also used for realizing the dispatching of cargoes between a stacking area and the wheel rotation area, the wheel rotation area and a delivery area.
4. The intelligent logistics warehouse deployment method of claim 1, wherein the deployment process of the drive-by-wire unit is as follows:
arranging a plurality of suspension points on the truss according to the requirement, wherein at least one group of guide members are arranged at each suspension point and are in transmission connection with corresponding execution lines;
the deployment flow of the carrying mechanism is as follows: and paving a guide rail with a preset length and a preset shape in the carrying area according to the requirement, and arranging a slidable rail car on the guide rail, wherein the rail car is provided with a carrying accommodating cavity or a carrying platform.
5. The intelligent logistics warehouse deployment method of claim 1, wherein the execution instructions comprise the following types: a transfer instruction, an ex-warehouse instruction and a warehouse-in instruction in a warehouse;
the execution instruction at least comprises the following information: basic information of the goods and the starting position coordinates (x s ,y s ,z s ) End position coordinates of goods (x e ,y e ,z e ) Goods-dispatching posture and required transport direction of goods in carrying area
Wherein, the basic information of goods at least includes: the type of cargo, the size of the cargo volume, and the material of the cargo; the transport directionIs obtained by the end position coordinates (x e ,y e ,z e ) And the start position coordinates (x s ,y s ,z s ) Obtained.
6. The intelligent logistics warehouse deployment method of claim 5, wherein the screening criteria are expressed in the form of:
wherein (1)>Representing the minimum bearing capacity of the execution wire in the Z-axis direction in the drive-by-wire unit w, F G Representing the force required in the Z axis direction during the movement of the cargo, and f represents the degree of freedom required for the posture adjustment of the cargo;
the location deployment principle is as follows:
wherein O is i Is the operation space of the drive-by-wire robot i, m, n E [1, i ]]。
7. The intelligent logistics warehouse deployment method of claim 5, wherein the robot-by-wire selection further comprises the following steps:
constructing a carrier based on basic information of the required drive-by-wire robot and the goods, wherein the carrier is used as a platform for clamping the goods and is hinged to an execution line corresponding to the required drive-by-wire robot; the desired movement adjustment and/or attitude adjustment is achieved by controlling the operating length of the execution line in a connection with the carrier.
8. The intelligent logistics warehouse deployment method of claim 6, wherein said scheduling and said transporting are embodied as:
acquiring an operation space O corresponding to the selected drive-by-wire robot i i In combination with the starting position coordinates (x s ,y s ,z s ) And the end position coordinates (x) e ,y e ,z e ) Determining a pickup area for a rail vehicle in a transport areaAnd discharge interval +.>Wherein, the goods taking area is->And discharge interval +.>Respectively belong to corresponding operation spaces O i ；
When picking up goods, if the drive-by-wire robot corresponding to the goods starting position coordinate is in a working state, executing a waiting mode on the current execution instruction until the corresponding drive-by-wire robot is in an idle state; if the drive-by-wire robot i is in an idle state, the railcar is dispatched to move to the goods taking area according to the priority orderThe corresponding drive-by-wire robot lifts the goods above the dispatched railcar and places the goods on the railcar; according to the transport direction on the rail car>From the picking-up compartmentCarry to the goods taking area->
And when unloading, if the drive-by-wire robot corresponding to the goods end position coordinate is in a working state, executing a pause mode on the current execution instruction until the corresponding drive-by-wire robot is in an idle state.
9. The intelligent logistics warehouse deployment method of claim 8, wherein the priority order is expressed as: dispatching according to the principle of distance priority under the condition of meeting the preset constraint condition;
wherein the constraint comprises at least: the space avoidance requirement is met, and the requirement that the railway vehicle can carry cargo is met functionally.
10. An intelligent logistics warehouse system for implementing the logistics warehouse deployment method of any one of claims 1 to 9, said system being disposed within a warehouse; wherein the warehouse comprises at least one warehouse port;
the stacking area is arranged in the warehouse along a preset direction; the stacking area is arranged for stacking and storing cargoes according to continuity and/or non-continuity;
at least one sheet delivery zone disposed between the stacking zone and the warehouse mouth along the predetermined direction; the delivery zone is configured to park a vehicle;
the transport area and the stacking area are paved in the warehouse in parallel; the transport zone covers the stacking zone and the delivery zone in a predetermined direction;
the wire control units are distributed above the stacking area, the delivery area and the transportation area; the plurality of wire control units are combined into at least one group of wire control robots according to requirements;
the conveying mechanism is arranged in the conveying area; the handling mechanism has at least one set of railcars having at least one degree of freedom to and from in a predetermined direction.
11. The intelligent logistics warehouse system of claim 10, wherein the drive-by-wire unit comprises:
at least two groups of trusses arranged at the top of the warehouse along a preset direction;
the hanging points are distributed on the truss in advance;
the guide pieces are correspondingly distributed at the hanging points; at least one set of actuating wires is arranged on each guide member;
the line control robot is formed by combining a selected required number of execution lines at required positions and a carrier; the carrier is connected to the output of the corresponding execution line.
12. The intelligent logistics warehouse system of claim 11, wherein the carrier is formed by a plurality of splices and a plurality of connectors, and the shape and size are based on the basic information of the cargo, and the cargo scheduling attitude;
wherein, any end of the connecting piece and any end of the connector are matched.
13. An intelligent logistics warehouse system in accordance with claim 10, wherein the handling mechanism further comprises a linear rail or a circular rail; the rail car moves back and forth on the linear guide rail or the annular guide rail.
14. The intelligent logistics warehouse system of claim 10, further comprising: and the rotation area is arranged between the stacking area and the delivery area.
CN202310766195.XA 2023-06-27 2023-06-27 Intelligent logistics warehouse system and deployment method Active CN116553055B (en)

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